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	        <center><img src="data/pics/instrument.png"  name="Tooth" align="middle">

		<h3>Connection with the Omni device</h3></center>

		<div id="orangeText">Description:</div>
		
		This scene introduces the omni device and connect it to control the instrument.

		<div id="orangeText">Key points:</div>

		<ul>
			<li>Added a driver for the Omni phantom device</li>
			<li>Added a mechanical state controller that gathers data from the phantom and updates the position of a representation of the device in the simulation </li>
			<li>Added a computation (LCPForceFeedback) of the haptic forces </li>
			<li>Added VectorSpringForceField & JointSpringForceField to link the movements of the Omni phantom and the instrument</li>
		</ul>

		<br><center><h3><a href="dentalSurgery_07.scn">Next</a></center></h3>


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